function [KA] = tukeySelfCalib(TF,w,h,numparams,corrs)
%this function , given a camera center and a focal length and a series of fundamental
%matrices computes the error with respect to a fundamental matrix

plotting=0;
[m,numFs]=size(TF);
[Weights]=findRobustWeightsTEST(TF,corrs,w,h,1);
funcOption='regularweighted';
normalize=0;
numtries=1;

[allsols,  scrs, bestslns] =nonlinearOptimizeselfcalibnorm(numtries,TF, w,h,Weights,funcOption,normalize,numparams);




if(plotting==1)
    plotSelfCalibResults(allsols,  scrs, bestslns,Weights,numparams);   
end

KA=bestslns;
end

